The Mail on Sunday said the video of Andrew, who was then the UK’s Special Representative for International Trade, was taken less than hour after Epstein had left the £63 million mansion with a blonde woman.

Last week, two prison guards were suspended and a warden reassigned from the jail where Epstein was found dead following reports that 30-minute checks were not carried out properly.

Epstein was accused of paying girls under the age of 18 to perform sex acts at his Manhattan and Florida mansions between 2002 and 2005.

He was arrested last month after he landed in New Jersey on his private jet.

Last week, Buckingham Palace responded to claims by Virginia Giuffre, now 35, that she was forced to have sex with Epstein’s acquaintances.

A spokeswoman for the Palace said: "This relates to proceedings in the United States, to which the Duke of York is not a party.

“Any suggestion of impropriety with underage minors is categorically untrue."